Discrete-Time Inverse Optimal Control for Nonlinear Systems

List of Figures

2.1  System trajectories with the ISS property

2.2  RHONN scheme

2.3  Neural network structure

3.1  Unstable nonlinear system phase portrait

3.2  Stabilized nonlinear system time response

3.3  Stabilized nonlinear system phase portrait

3.4  Nonlinear system tracking performance

3.5  Two DOF planar robot

3.6  Free-body diagram of the two DOF planar robot

3.7  Robot tracking performance

3.8  Control signals u₁ and u₂ time evolution

4.1  Unstable phase portrait

4.2  Stabilization of a nonlinear system

4.3  Phase portrait for the stabilized system

4.4  Cost functional evaluation

4.5  Boost converter circuit

4.6  DC-to-DC boost converter

4.7  Trajectory tracking for a constant reference

4.8  Control law to track a constant reference ...